Baumuller b Maxx Series User manual

Application Manual
Read the Operating Handbook before starting any work!
Language English
Translation
Document No. 5.13013.04
Part No. 445132
Status 14-Jan-2018
E5.13013.04
b maXX
POWERLINK
BM4-O-PLK-01
POWERLINK
Controlled Node
BM4400, BM4400 ES
BM4600, BM4600 ES
BM4700, BM4700 ES

Copyright This Application Manual may be copied by the owner in any quantity, but only for internal use.
This Application Manual may not be copied or reproduced, in whole or in part, for any other
purposes.
The use and disclosure of information contained in this Application Manual are not permitted.
Designations and company marks contained in this Application Manual could be trademarks,
the use of which by third parties for their own purposes could violate the rights of the rights
holder.
Preliminary information
Warning Insofar as this document is identified as being preliminary information, the following
applies:
This version is regarded as providing advance technical information to users of the described
devices and their functions at an early enough time in order to adapt to any possible changes
or expanded functionality. 
This information must be regarded as being preliminary, as it has not yet passed through
Baumüller's internal review process. In particular, this information is still subject to changes,
thus no legal liability can be derived from this preliminary information. Baumüller assumes no
liability for damages that might arise from this possibly faulty or incomplete version. 
If you detect or suspect any content errors and/or major form errors in this preliminary infor-
mation, we request that you notify the Baumüller support specialist responsible for you.
Please provide us, via this employee, with your insights and comments so that we can take
them into account and include them when transitioning from the preliminary information to
the final information (as reviewed by Baumüller). 
The conditions stipulated in the following section under "Obligatory" are invalid in case of pre-
liminary information.
Obligatory This Application Manual is a part of the equipment/machine. This Application Manual must
be available to the operator at all times and must be in legible condition. If the equipment/
machine is sold or moved another location, this Application Manual must be passed on by
the owner together with the equipment/machine.
After any sale of the equipment/machine, this original and all copies must be handed over to
the buyer. After disposal or any other end use, this original and all copies must be destroyed.
When the present Application Manual is handed over, corresponding sets of application man-
uals of a previous version are automatically invalidated. 
Please note that the specifications/data/information are current values according to the
printing date. These statements are not legally binding with regard to measurements,
computation or calculations.
Baumüller Nürnberg GmbH reserves the right, in developing its products further, to change
the technical specifications and handling of it products concerned without prior notice.
No liability can be accepted concerning the correctness of this Application Manual unless
otherwise specified in the General Conditions of Sale and Delivery.
Baumüller Nürnberg GmbH
Ostendstr. 80 - 90
90482 Nuremberg
Germany
Tel. [phone] - 0 
Fax: [phone] - 1 30
Email : [email protected]
Internet: www.baumueller.de

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Table of contents
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 Content of instruction manual to POWERLINK Controlled Node . . . . . . . . . . . . . . . . . 5
1.3 Mounting and installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.4 Address Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.5 XDD file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2 Fundamental safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.1 Safety notes and mandatories. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2 Information sign . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3 Basics POWERLINK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.1 Literature concerning POWERLINK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.2 Basic principles POWERLINK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.3 Supported operation modes of the CANopen device profile DSP402 . . . . . . . . . . . . . 13
3.3.1 Short summery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.3.2 Operating modes and field bus objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4 Communication to the b maXX 4000 controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.1 Communication flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.2 Parameterizing the BACI communication times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.3 Configuration possibilities of the POWERLINK Controlled Node in ProDrive.. . . . . . . 19
4.3.1 Changing the units of some fieldbus objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.3.2 CANopen offset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.3.3 BACI communication settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.3.4 Standardization of speed 100% / 200% . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.3.5 Gear factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.3.6 Factor Group according to CiA®402 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.4 General notes according POWERLINK Controlled Node . . . . . . . . . . . . . . . . . . . . . . 22
4.4.1 User units UU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23
4.4.2 CANopen offset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.4.3 Homing necessary for positioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.4.4 Types of positioning, depending on the positioning mode (P0601). . . . . . . . . . . . . . 25
5 Data Exchange and Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
5.1 Directory of objects for communication control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
5.2 Net work management (NMT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
5.3 Service data (SDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
5.3.1 Frame structure SoA. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
5.3.2 Frame structure ASnd. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
5.3.3 Error reactions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
5.4 Synchronization (SYNC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
5.4.1 Frame structure SoC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
5.5 Process data (PDO). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
5.5.1 Frame structure PReq and PRes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
5.5.2 PDO Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

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Table of contents
6 Configuration Example with B&R X20 PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Appendix A - Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Appendix B - Quick reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
B.1 4000 object numbers (manufacturer-specific objects) . . . . . . . . . . . . . . . . . . . . . . . 47
B.2 6000 object numbers (device profile DSP 402). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Appendix C - Conversion tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Appendix D - Technical data: POWERLINK Controlled Node . . . . . . . . . . . . . . . . . . . . . . . 73
D.1 Technical features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
D.2 Data channels to the b maXX 4000 controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Table of figures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Revision survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

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1INTRODUCTION
The application manual is an important part of the b maXX®4400 (ES) device. Therefore
this manual must be read completely, before starting any operation, last but not least on
behalf of the own security. This manual describes how the company Baumüller Nürnberg
GmbH implemented the option module POWERLINK Controlled Node for the series b
maXX®4400.
The introduction contains general information regarding the option module POWERLINK
Controlled Node.
1.1 General information
The POWERLINK Controlled Nodeoption module connects the b maXX®4400 (ES) via
the POWERLINK bus with other CoE nodes (e. g. PC, PLC, further b maXX®4400 (ES),
I/O modules).
Information according option and function modules for the device series b maXX®4400 is
found in the manual 5.12008.
Information according the programming of the b maXX BM4000 controller is found in the
parameter manual 5.03039.
1.2 Content of instruction manual to POWERLINK Controlled Node
Each person being in charge of working at or with the device, must have read and under-
stood the instruction manual POWERLINK Controlled Node 5.12072 and the instruction
manual for bmaXX BM4000 5.12008 before starting to work with the device. This applies
even if the person concerned has already worked with such or similar devices or has been
trained by the manufacturer.

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1.3
1.3 Mounting and installation
The mounting of the option module POWERLINK Controlled Nodeis described in the in-
struction manual POWERLINK Controlled Node5.12072.
1.4 Address Setting
The address setting and baud rate of the POWERLINK Controlled Node are described
in the instruction manual POWERLINK Controlled Node 5.12072.
1.5 XDD file
The XDD file is a XML file and is for the description of the function range of a
POWERLINK device. It is an electronic data sheet of the POWERLINK device. The XDD
file is used by the POWERLINK Managed Node or the bus configurators. The XDD file
contains information on all objects supported by the Controlled Node, the network man-
agement and further features.
The name extension of the XDD file is *.xdd.
The file can be downloaded from the download area on Baumüller’s home page
www.baumueller.de.

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2FUNDAMENTAL SAFETY
INSTRUCTIONS
In this chapter the dangers are prescribed, whichcan arise during parameterization of the
Baumüller b maXX 4000 controller unit and the meaning of the information sign is ex-
plained.
2.1 Safety notes and mandatories
WARNING!
Danger from modification of the parameter settings!
The change of parameters affects the behavior of the Baumüller-unit and conse-
quently the behavior of the construction and its components. If you change the ad-
justments of the parameters, you may cause a dangerous behavior of the
construction and/or of its components.
Therefore:
mAfter each modification of the parameter settings, a commissioning with consider-
ation to all safety instructions and safety regulations must be executed.
2.2 Information sign
NOTE!
This note is a very important information.

Information sign
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2.2

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3BASICS POWERLINK
3.1 Literature concerning POWERLINK
On behalf of basic information with reference to POWERLINK the following literature is
recommended:
m[1] 
Ethernet POWERLINK Communication Profile Specification 
EPSG Draft Standard 301 
Ethernet POWERLINK Standardization Group (EPSG)
m[2] 
Ethernet POWERLINK XML Device Description 
EPSG Draft Standard 311 
Ethernet POWERLINK Standardization Group (EPSG)
m[3] 
www.ethernet-powerlink.org 
Ethernet POWERLINK Standardization Group (EPSG) 
Schaperstraße 18 
D-10719 Berlin
m[4] 
CANopen Device Profile for Drives and Motion Control 
CiA Draft Standard Proposal DSP-402 
CAN in Automation e.V.

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3.2
3.2 Basic principles POWERLINK
POWERLINK Version 2 (Ethernet type 0x88ab)is a published fieldbus system on the ba-
sis of real-time Ethernet, that integrates the mechanisms of CANopen completely.
Twisted pair cables (100Base-TX) serve as physical basis.
Net work POWERLINK enables users to choose any topology. The network can be realized as line
structure, tree structure, star structure or ring structure, whereas combinations are al-
lowed, too. There is the possibility of adding and removing devices during run time (Hot-
Plugging).
Bus access The bus can be accessed via the CSMA/CD procedure (Carrier Sense Multiple Access /
Collision Detection). Collisions may occur, as each participant is allowed to start sending
his message, after recognizing the necessary idle bus. In this case, the collisions will be
detected (Collision Detection) and the sending will be repeated after a random time inter-
val. This ensures a transmission without data loss. For that reason, it is, of course, nec-
essary that each participant can clearly be identifiedinthe network by the respective MAC
address.
The application of switches may lead to undefined conditions in the network.
MAC addressing Each participant can send messages unrequested. Therefore, a clear sender and desti-
nation address is needed which is achieved by the MAC address.
IP addressing Class Cv4 address 192.168.100.0 shall be used as net ID of a POWERLINK network.
Each network supports 254 IP addresses whereby the last byte of the IP address
(host ID) should correspond to the node number (node ID) of the participant.
192.168.100.POWERLINK Node ID
Net ID Host ID
The following node IDs are reserved:
Address Description
0x00 Invalid address
0xF0 POWERLINK default address of Managed Node
0xFB Pseudo node address to be used by a node to adress itself
0xFC POWERLINK dummy node address
0xFD POWERLINK default address of diagnostic device
0xFE Default address of POWERLINK gateways/router
0xFF POWERLINK broadcast address
As this is a class C network, the subnet mask of the POWERLINK node shall be
255.255.255.0.

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Ethernet frame The Ethernet frame consists of a header and the data payload. The header consists of
the destination and the source MAC address as well as of the Ethertype field that contains
some control information. The Ethernet payload field, including the POWERLINK frame,
contains at least 46 and up to 1500 bytes. Concluding, the correctness of the frame is en-
sured by means of a checksum.
Target MAC Source MAC Ether
type User data (POWERLINK) Pad CRC
48 bit 48 bit 16 bit >24 bit 32 bit
RMessage
Type Target node Source node User data
1 bit 7 bit 8 bit 8 bit
POWERLINK
frame The POWERLINK frame consists of a header and the actual data payload as well. The header consists of a reserved-bit, the messagetype, the destination node and the source
node. The following message types are defined.
Message type ID Designation Use Transfer type
SoC 0x01 Start of Cycle Defines the start of a
new cycle Multicast
PReq 0x03 Poll Request Ask for cyclic data of
the CN Unicast
PRes 0x04 Poll Response Send current cyclic
data of the CN Multicast
SoA 0x05 Start of 
Asynchronous Signalize the start of
the asynchronous
phase
Multicast
ASnd 0x06 Asynchronous
Send Sending of asynchro-
nous data Multicast
Determinism The various participants in the network, the Controlled Nodes (CN), are controlled by a
specific participant, the Managed Node (MN), and are only allowed to send, if they are
asked to by the MN.
The POWERLINK cycle is divided into a synchronous and a asynchronous phase. At the
beginning of the synchronous phase, the MN sends the SoC Frame. Subsequently, each
single node is enquired by the MN with a PReq and responds with the PRes. After the
cyclic phase, the MN starts the asynchronous phase with the sending of the SoA frame.
A node determined by the MN can transmit acyclic data by means of a ASnd frame.

t
SOC PReq PReq PReq SoA
PRes PRes PRes ASnd
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3.2
Device profile POWERLINK supports the CANopen device profiles. These profilesdescribe application-
specific and device-specific definitions, meaning of the data with regard to contents and
device functionality. Amongst others, there are device profiles for drives, I/O modules, en-
coders or programmable devices. The option module POWERLINK Controlled Node for
the b maXX 4000 controller is implemented according to the device profile DSP402
(Drives and Motion Control).
Object directory The main element of a device profile is the object directory.
The basis for this is the CANopen object directory:
Index (hex) Object
0x0000 Not used
0x0001 - 0x001F Static data types
0x0020 - 0x003F Complex data types
0x0040 - 0x005F Manufacturer specific complex data types
0x0060 - 0x007F Device profile specific static data types
0x0080 - 0x009F Device profile specific complex data types
0x00A0 - 0x03FF Reserved
0x0400 - 0x041F POWERLINK specific static data types
0x0420 - 0x04FF POWERLINK specific complex data types
0x0500 - 0x0FFF Reserved
0x1000 - 0x1FFF Communication profile area
0x2000 - 0x5FFF Manufacturer specific profile area
0x6000 - 0x9FFF Standardized device profile area
0xA000 - 0xBFFF Standardized interface profile area
0xC000 - 0xFFFF Reserved
The objects are always addressed by means of an index (16 bit) and additionally a sub-
index (8 bit).

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3.3 Supported operation modes of the CANopen device profile DSP402
3.3.1 Short summery
The following operation modes are supported, i.e. all prescribed objects can be found on
the option module .
Device Control optional objects completely available
Homing Mode optional objects completely available
Profile Position Mode optional objects not available completely
Position Control Funktion optional objects not available completely
Profile Velocity Mode optional objects not available completely
Common Entries in the Object Dictio-
nary 
(no prescribed objects available)
optional objects not available completely
Factor Group optional objects not available completely
The following operation modes are not supported, i.e. at least one prescribed object is not
available and optional objects may be available.
Velocity Mode prescribed and optional objects are not avail-
able completely
Profile Torque Mode three objects
Interpolated Position Mode no objects

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3.3
3.3.2 Operating modes and field bus objects
Operating modes
Device Control
All prescribed and all optional objects are supported.
Field bus object
number mandatory/ optional Field bus object name
0x6040 mandatory controlword
0x6041 mandatory statusword
0x605A optional quick_stop_option_code
0x605B optional shutdown_option_code
0x605C optional disable_operation_option_code
0x605D optional stop_option_code
0x605E optional fault_reaction_option_code
0x6060 mandatory modes_of_operation
0x6061 mandatory modes_of_operation_display
Homing Mode
All prescribed and all optional objects are supported.
Field bus object
number mandatory/ optional Field bus object name
0x607C optional home_offset
0x6098 mandatory homing_method
0x6099 SIX 0 = 2 mandatory homing_speed
0x609A optional homing_acceleration
Profile Position
Mode (Positioning)
All prescribed and partly all optional objects are supported.
Field bus object
number mandatory/ optional Field bus object name
0x607A mandatory target_position
0x607D SIX 0 = 2 optional software_position_limit
0x607F optional max_profile_velocity
0x6080 optional max_motor_speed
0x6081 mandatory profile_velocitiy
0x6083 mandatory profile_acceleration

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3
Position Control
Function All prescribed and partly all optional objects are supported.
Field bus object
number mandatory/ optional Field bus object name
0x6062 optional position_damand_value
0x6063 optional position_actual_value*
0x6064 mandatory position_actual_value
0x6066 optional following_error_time_out
0x6067 optional position_window
0x6068 optional position_window_time
0x60FB SIX 0 =28 optional position_control_parameter_set
Profile Velocity
Mode (Speed control)
All prescribed and partly all optional objects are supported.
Field bus object
number mandatory/ optional Field bus object name
0x6069 mandatory velocity_sensor_actual_value
0x606A mandatory sensor_selection_code
0x606B mandatory velocity_demand_value
0x606C mandatory velocity_actual_value
0x606F optional velocity_threshold
0x60F8 optional max_slippage
0x60FF mandatory target_velocity
Common Entries
in the 
Object Dictionary No prescribed objects available, optional objects are supported partly.
Field bus object
number mandatory/ optional Field bus object name
0x60FD optional digits_inputs
0x6510 SIX 0 = 8 optional drive_date
0x6084 mandatory profile_deceleration
0x6085 optional quick_stop_deceleration
0x6086 mandatory motion_profile _type
Field bus object
number mandatory/ optional Field bus object name

Supported operation modes of the CANopen device profile DSP402
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3.3
Factor Group (Group of user units)
No prescribed objects available, optional objects are supported partly .
Field bus object
number mandatory/ optional Field bus object name
0x608F SIX 0 = 2 optional position_encoder_resolution
0x6090 SIX 0 = 2 optional velocity_encoder_resolution
0x6092 SIX 0 = 2 optional feed_constant
Velocity Mode (Speed control)
All prescribed and partly all optional objects are supported .
Field bus object
number mandatory/ optional Field bus object name
0x6042 mandatory vl_target_velocity
0x6043 mandatory vl_velocity_demand
0x6044 mandatory vl_control_effort
0x6045 optional vl_manipulated_velocity
0x6046 SIX 0 = 2 mandatory vl_velocity min_max_amount
0x604D optional vl_pole_number
0x604F optional vl_ramp_function_time
0x6050 optional vl_slow_down_time
0x6051 optional vl_quick_stop_time
Profile Torque
Mode (Torque control)
One prescribed and two optional objects are supported .
Field bus object
number mandatory/ optional Field bus object name
0x6071 mandatory target_torque
0x6072 optional max_torque
0x6077 optional torque_actual_value

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4COMMUNICATION TO THE
b maXX 4000 CONTROLLER
In this chapter the data communication between the POWERLINK Controlled Node and
the b maXX 4000 device is described.
4.1 Communication flow
The POWERLINK Controlled Nodemodule exchanges via a Dual-Port-RAM in the
FPGA data with the b maXX 4000 controller. This data exchange is made with a defined
time pattern via the BACI interface (Baumüller bus).
Therewith the option module activates the communication with the b maXX 4000 control-
ler. During communication, two different types of data are transferred:
mProcess data
mService data
Process data is always transferred cyclically. In the remaining time, service data is trans-
ferred. The transmission of the process data is made in a settable time pattern (Sync in-
terval), transmitting the reference values and the actual values in the SYNC interval each
with different offset. The cycle time of the SoC framemust be in accordancewiththe BACI
cycle time.

Parameterizing the BACI communication times
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4.2
4.2 Parameterizing the BACI communication times
Between the POWERLINK Controlled Nodeand the b maXX 4000 controller 8 set val-
ues and 8 actual values can be exchanged as process data in a communication cycle.
Which set values and actual values are exchanged is specified in the mapping objects on
the POWERLINK Managed Node, see ZData Exchange and Parameterization– from
page 27.
The setting of communication times between POWERLINK Controlled Nodeand b
maXX 4000 is automatically set by the option module. The SYNC interval of the control-
ler, the BACI communication cycle time (rate set values, actual values), the cycle offset
of the set values and the cycle offset of the actual values are set by means of the cycle
time in object 0x1006 set in the Managed Node.
The bmaXX 4000 controller initiates a communication time slot every 125 µs, in which
process data set values or process data actual values are transferred.
The communication cycle time is a multiple of the call of the communication time slice of
the controller (every 125 µs).
The factor is calculated as follows:
Cycle time set values, actual values communication cycle time (in µs)
125 µs
---------------------------------------------------------------------------------------=
The process date set values and the process data actual values are transmitted in differ-
ent communication time slots. Therefore, different cycle offsets are stated for the set val-
ues and for the actual values. The cycle offset is nothing but the number of the
communication time slot transmitting the data.
The configuration by the option card is as follows:
Cycle time
(object 0x1006) BACI cycle time (P0800) Set value offset (P0818) Actual value offset (P0819)
250 µs 201
500 µs 423
1000 µs 835
2000 µs 16 410
4000 µs 32 410
8000 µs 64 410
The settings must be stored in the data set of the b maXX 4000 controller and the con-
troller must be booted again.
NOTE!
If cyclic communication is interrupted, e. G.. at restart of the bus the error/warning
Alive Counter or the error cyclic communication can occur.

Communication to the b maXX 4000 controller
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4.3 Configuration possibilities of the POWERLINK Controlled Node in ProDrive.
ProDrive „option module G/H - configuration 1" (P0830 / P0840).
Depending on the slot the POWERLINK option card is plugged in.
NOTE!
Settings result in a modified behavior!
4.3.1 Changing the units of some fieldbus objects
Bit 2 0Resolution for speed 1 rpm
1New functions, alterations are quoted in the further course
Resolution for speed 1/10 rpm

The following objects are concerned:
0x6042, 0x6043, 0x6045, 0x606B, 0x606C, 0x607A, 0x607C, 0x6081, 0x6083,
0x6084, 0x6099 SIX 1, 0x6099 SIX 2, 0x609A, 0x60FF, 0x60FB SIX 29
4.3.2 CANopen offset
Bit 5 0Conversion of the numerical scale from UINT32 to INT32; depending on the direction,
an offset of 231 is added/subtracted to the appropriate fieldbus object during the posi-
tioning.
1No offset is added/subtracted

The following objects are concerned:
0x6062, 0x6064, 0x607A, 0x607C, 0x607D SIX1, 0x607D SIX2
4.3.3 BACI communication settings
Bit 10 0Automatic configuration of the BACI communication times
1No configuration of the BACI communication times by the option card
4.3.4 Standardization of speed 100% / 200%
Bit 11 0Speed standardization related to 100% maximum speed.
1Speed standardization related to 200% maximum speed

The following objects are concerned:
0x6042, 0x6046 SIX 2, 0x60FF, 0x60FB SIX 29

Configuration possibilities of the POWERLINK Controlled Node in ProDrive.
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4.3
4.3.5 Gear factor
Bit 12 0No gear.factor
1Gear factor from controller parameter (numerator P3314, denominator P3315)

The following objects are concerned:
0x604C SIX 1, 0x604C SIX 2
4.3.6 Factor Group according to CiA®402
Bit 14 0No calculation according to CiA®402 Factor Group
1Calculation according to CiA®402 Factor Group

The following objects are concerned:
0x6064, 0x6067, 0x606C, 0x606F, 0x607A, 0x607C, 0x607D SIX1, 0x607D SIX2,
0x6081, 0x6099 SIX1, 0x6099 SIX2, 0x60FF
The calculation on the basis of the Factor Group occurs in the b maXX conroller (see also
BM4400 Parameter Manual 5.03039).